diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index f4cdd84b9a..2abd4fbfff 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -367,7 +367,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool engaged_mads = sm.allAliveAndValid({"selfdriveStateSP"}) && sm["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled();
+    const bool engaged_mads = sm.allAliveAndValid({"selfdriveStateSP"}) && sm["selfdriveStateSP"].getSelfdriveStateSP().getMads().getActive();
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged, engaged_mads);
     }
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 871d0203a3..0477e1c59c 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -140,10 +140,10 @@ class ModularAssistiveDrivingSystem:
       self.events.add(EventName.controlsMismatchLateral)
 
   def data_sample(self, sm: messaging.SubMaster):
-    if not self.enabled:
+    if not self.active:
       self.mismatch_counter = 0
 
-    if self.enabled and any(not ps.controlsAllowedLat for ps in sm['pandaStates']
+    if self.active and any(not ps.controlsAllowedLat for ps in sm['pandaStates']
                             if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1